Disassembling and assembling manipulator for mechanical cooperative winding of mutual inductor

Abstract

The disassembly and assembly manipulator comprises a rotating seat, a transmission guide rail is movably clamped at the rear end of the rotating seat, a conveying sliding plate connected with a butt-joint frame is arranged on the transmission guide rail, a positioning pipe is installed in the butt-joint frame, and a transmission positioning shaft is movably arranged at the bottom of the positioning pipe; a plurality of staggered reset shafts are arranged at the bottom of the transmission positioning shaft, positioning end blocks are hinged to the bottoms of the reset shafts and used for abutting against the inner wall of the coil to assist in clamping, a fixing ring frame is movably clamped to the reset shafts, and a plurality of clamping frames are arranged on the fixing ring frame; compared with the prior art, through the hinged linkage design of the reset shaft and the positioning end block and the combination of a locking mechanism composed of the locking ring and the transmission shaft, multi-point staggered supporting can be formed on the inner wall of the coil, and the three-dimensional dynamic clamping of the special-shaped coil is achieved in cooperation with the vertical pressing action of the buffering pressing plate; and the dimensional tolerance of the coil can be automatically compensated and the deflection angle can be corrected in the clamping process.

Description

Technical Field

[0001] This invention relates to the field of electronic component manufacturing equipment technology, specifically to a mechanical collaborative winding and disassembly robot for current transformers. Background Technology

[0002] A transformer is a device that uses the principle of electromagnetic induction to change AC voltage. Its main components are the primary coil, the secondary coil, and the iron core (magnetic core). In electrical equipment and wireless circuits, it is commonly used for voltage step-up and step-down, impedance matching, and safety isolation. Coil clamping and transportation is a key step in the manufacturing process of motors, transformers, and electromagnetic equipment. Its technical issues mainly involve mechanical design, material properties, control precision, and environmental adaptability.

[0003] In existing equipment, the clamping force or the contact area between the clamping device and the coil is crucial during the transfer and clamping process. Excessive force or insufficient contact area can easily lead to coil displacement or detachment due to vibration or sudden stop during subsequent transfer. To address this issue, most existing clamping devices use hydraulically driven clamps to hold the coil. To prevent loosening, a constant clamping force needs to be applied to the coil. However, this large clamping force may damage the coil's insulation layer. Furthermore, during transfer, the alignment with the corresponding coil positioning fixture can be unstable, requiring manual adjustment by the operator and affecting the overall processing accuracy. Therefore, we propose a mechanical collaborative winding and disassembly robot for current transformers to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a mechanically coordinated winding and disassembly robot for current transformers, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mechanical collaborative winding and disassembly robot for current transformers, comprising:

[0006] The rotating seat has a transmission guide rail at the rear movable bracket. The transmission guide rail is equipped with a conveying slide plate connected to a docking frame. The docking frame is equipped with a positioning tube, and a transmission positioning shaft is movably provided at the bottom of the positioning tube.

[0007] The transmission positioning shaft has multiple staggered reset shafts at its bottom. Each reset shaft has a positioning end block hinged to its bottom for auxiliary clamping against the inner wall of the coil. A fixing ring frame is movably mounted on the reset shaft, and multiple clamping frames are mounted on the fixing ring frame. One side of each clamping frame has a docking end block with a fixing block, which is used to cooperate with the transmission positioning shaft to calibrate and clamp the coil. When it is necessary to clamp and limit the coil, the transmission positioning shaft can be locked inside the coil. As the transmission guide rail feeds, the bottom positioning end block can be pressed against the inside of the storage mechanism. With the cooperation of the reset shaft, the positioning end block is pressed against the inside of the coil for auxiliary clamping. The telescopic tube moves, which can drive the bottom buffer plate to press against the top of the coil for straightening and clamping, ensuring the stability of subsequent transportation.

[0008] Preferably, the bottom of the transmission positioning shaft is provided with multiple snap-fit ​​grooves, and snap-fit ​​tubes are installed inside the snap-fit ​​grooves. The top of the reset shaft is inserted into the snap-fit ​​tubes. The top of the reset shaft is provided with a hinge block for bending. The bottom of the transmission positioning shaft is provided with multiple transmission shafts, and a locking ring is snapped at the bottom of the transmission shaft. The locking ring is snapped at the position where the reset shafts intersect.

[0009] Preferably, a locking frame is installed at the bottom of the transmission positioning shaft, and multiple U-shaped shafts with their inner walls locked on the surface of the transmission shaft are inserted into the side wall of the locking frame. The locking frame is used to limit the transmission shaft, fix the position of the locking ring, and fix the reset shaft clamped to the inner wall of the coil. The clamping angle can be fixed by means of the locking mechanism.

[0010] Preferably, the positioning end block is provided with hinge shafts at both ends, and a buffer pressure ring is inserted inside the hinge shaft. The buffer pressure ring is used to abut against the inner wall of the coil.

[0011] The bottom of the positioning end block is equipped with a lifting plate with a trapezoidal cross-section. A locking plate is inserted inside the positioning end block, and the locking plate abuts against the hinge block inside the positioning end block during clamping to fix the clamping angle of the positioning end block. The hinge linkage design between the positioning axis and the positioning end block, combined with the locking mechanism composed of the locking ring and the transmission shaft, can form multi-point staggered support on the inner wall of the coil.

[0012] Preferably, a connecting plate is installed at one end of the clamping frame, the mating end block is installed on the connecting plate, the mating end block is "L" shaped and hollow, a buffer tube for connecting the buffer pressure plate is installed at the bottom of the fixing block, and a telescopic rod located outside the buffer tube is provided between the fixing block and the buffer pressure plate. The buffer pressure plate is used to press against the top of the coil to keep the coil in a horizontal state during the clamping process.

[0013] The docking end block is equipped with a reset air pressure plate, which is connected to the buffer tube. It is used to control the deformation of the buffer tube to press the buffer pressure plate against the top of the coil, thus ensuring the stability of the equipment clamping.

[0014] Preferably, the clamping frame is provided with a fixing plate at the top, a hollow plate is installed at one end of the fixing plate, a drive shaft is clamped inside the hollow plate, and one end of the drive shaft is clamped at the top of the docking end block;

[0015] A rectangular reset frame is fitted on the outer side of the docking end block. The bottom of the reset frame abuts against the reset air pressure plate, and the top of the reset frame abuts against the inside of the drive shaft. The reset frame can push the reset air pressure plate to deform. An adjustable-length tension rod is provided inside the hollow plate. A telescopic tube is fitted inside the docking frame. The bottom of the telescopic tube is provided with an extension ring connected to the tension rod. The telescopic tube is used to pull the tension shaft and drive shaft to move. With the vertical pressure action of the buffer plate, a three-dimensional dynamic clamping of the irregular coil is realized. The deflection angle can be corrected during the clamping process.

[0016] Preferably, the bottom of the buffer plate is provided with a buffer pad, which is used to fit the top of the coil to ensure the clamping stability of the device and reduce the possibility of coil displacement.

[0017] Preferably, a snap-fit ​​bracket is installed on the conveyor slide plate, and the docking bracket is located at the bottom of the snap-fit ​​bracket, which can drive the coil to move and lift quickly.

[0018] Preferably, a positioning ring is fitted onto the outside of the transmission positioning shaft, and the bottom of the positioning ring is connected to the telescopic tube, which can play a driving role.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. This invention, through the hinged linkage design of the reset shaft and the positioning end block, combined with the locking mechanism composed of the locking ring and the transmission shaft, can form multi-point staggered support on the inner wall of the coil. With the vertical pressure action of the buffer plate, it realizes three-dimensional dynamic clamping of irregular coils. During the clamping process, it can automatically compensate for the coil size tolerance and correct the deflection angle.

[0021] 2. The present invention has multiple rubber balls on the surface of the buffer pressure ring, which are inserted into the bottom of the coil in combination with the trapezoidal arrangement of the lifting plate, thereby reducing unexpected situations of displacement and shaking during the lifting and clamping process;

[0022] 3. The present invention enables the equipment to handle coils of different sizes through adjustable components, which increases the applicability. Automated calibration reduces manual intervention and improves efficiency. Modular design may simplify the maintenance process and reduce downtime.

[0023] 4. During the reset process, the buffer ring can clean the surface of the lifting plate, reducing debris residue and saving operators downtime for maintenance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of a partial structure of the conveyor slide of the present invention;

[0026] Figure 3 This is a schematic diagram of the docking frame structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the transmission positioning shaft structure of the present invention;

[0028] Figure 5 For the present invention Figure 4 Enlarged view of a portion of point A in the middle;

[0029] Figure 6 This is a schematic diagram of the bottom structure of the transmission positioning shaft of the present invention;

[0030] Figure 7 For the present invention Figure 6 Enlarged view of a portion of point B in the middle;

[0031] In the diagram: 1. Rotary seat; 2. Docking frame; 3. Transmission positioning shaft; 4. Clamping frame; 11. Transmission guide rail; 12. Conveyor slide plate; 13. Clip frame; 21. Positioning tube; 22. Positioning ring; 23. Telescopic tube; 31. Fixed ring frame; 32. Reset shaft; 321. Clip tube; 33. Locking ring; 34. Positioning end block; 35. Lifting plate; 36. Hinge shaft; 361. Buffer pressure ring; 37. Locking frame; 41. Fixed plate; 42. Connecting plate; 43. Docking end block; 431. Reset pneumatic plate; 44. Fixed clip block; 441. Buffer pressure plate; 45. Reset frame; 46. Hollow plate; 461. Transmission shaft. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-7 This invention provides a technical solution: a mechanical collaborative winding and disassembly robot for current transformers, comprising:

[0034] The rotating seat 1 has a transmission guide rail 11 at the rear movable bracket. The transmission guide rail 11 is equipped with a conveying slide plate 12 connected to the docking frame 2. The docking frame 2 is equipped with a positioning tube 21 inside. The bottom of the positioning tube 21 is movably equipped with a transmission positioning shaft 3.

[0035] The transmission positioning shaft 3 has multiple staggered reset shafts 32 at its bottom. Each reset shaft 32 has a positioning end block 34 hinged to its bottom for abutting against the inner wall of the coil for auxiliary clamping. A fixing ring frame 31 is movably mounted on the reset shaft 32. Multiple clamping frames 4 are mounted on the fixing ring frame 31. One side of the clamping frame 4 has a docking end block 43 with a fixing block 44, which is used to cooperate with the transmission positioning shaft 3 to calibrate and clamp the coil. When it is necessary to clamp and limit the coil, the transmission positioning shaft 3 can be clamped into the coil. As the transmission guide rail 11 feeds, the positioning end block 34 at the bottom can abut against the inside of the storage mechanism. With the cooperation of the reset shaft 32, the positioning end block 34 is abutted against the inside of the coil for auxiliary clamping. The telescopic tube 23 moves and can drive the bottom buffer plate 441 to abut against the top of the coil for straightening and clamping, ensuring the stability of subsequent transportation.

[0036] like Figure 6 and Figure 7 As shown, to ensure the stability of the device clamping, the bottom of the transmission positioning shaft 3 is provided with multiple snap-fit ​​slots, and a snap-fit ​​tube 321 is installed inside the snap-fit ​​slots. The top of the reset shaft 32 is inserted into the snap-fit ​​tube 321. The top of the reset shaft 32 can be inserted into the snap-fit ​​tube 321 and can be reset under air pressure. The top of the reset shaft 32 is provided with a hinge block for bending. The bottom of the transmission positioning shaft 3 is provided with multiple transmission shafts, and a locking ring 33 is snapped at the bottom of the transmission shaft. The locking ring 33 is snapped at the position where the reset shaft 32 intersects. The position of the reset shaft 32 can be fixed by the locking ring 33 to maintain the clamping state of the coil and facilitate the subsequent transfer of the coil.

[0037] like Figure 6 and Figure 7 As shown, in order to improve the clamping efficiency of the equipment, a locking frame 37 is installed at the bottom of the transmission positioning shaft 3. Multiple U-shaped shafts with inner walls that are locked onto the surface of the transmission shaft are inserted into the side wall of the locking frame 37. The locking frame 37 is used to limit the transmission shaft and to fix the position of the locking ring 33 to fix the reset shaft 32 clamped to the inner wall of the coil. The U-shaped shafts on the locking frame 37 are attached to the inner wall of the transmission shaft, and rubber washers are provided inside the U-shaped shafts to further ensure the subsequent limiting effect and prevent clamping instability in case of sudden stop or vibration during subsequent transfer.

[0038] like Figure 6As shown, in order to reduce wear during clamping, the positioning end block 34 is provided with hinge shafts 36 at both ends. A buffer pressure ring 361 is inserted inside the hinge shaft 36. The buffer pressure ring 361 is used to press against the inner wall of the coil. The surface of the buffer pressure ring 361 is provided with multiple rubber balls to fit against the inner wall of the coil, further increasing the contact area under the squeezing action, thereby ensuring the subsequent clamping effect.

[0039] The bottom of the positioning end block 34 is equipped with a lifting plate 35, which has a trapezoidal cross-section. A locking plate is inserted inside the positioning end block 34, and the locking plate abuts against the hinge block inside the positioning end block 34 during clamping to fix the clamping angle of the positioning end block 34. During clamping, the lifting plate 35 can be inserted into the gap between the coil and the bottom wall, which can reduce the wear generated during clamping. During clamping, under the action of the interaction force, the other end of the buffer pressure ring 361 abuts against the locking plate, which can work with the hinge block to fix the position of the positioning end block 34 and fix the clamping angle of the coil.

[0040] like Figure 4 and Figure 5 As shown, in order to detect the coil's own displacement during the clamping process, which affects the clamping angle of subsequent transfer, a connecting plate 42 is installed at one end of the clamping frame 4, and a docking end block 43 is installed on the connecting plate 42. The docking end block 43 is "L" shaped and hollow. A buffer tube connecting the buffer pressure plate 441 is installed at the bottom of the fixing block 44. A telescopic rod located outside the buffer tube is provided between the fixing block 44 and the buffer pressure plate 441. The buffer pressure plate 441 is used to press against the top of the coil to keep the coil in a horizontal state during the clamping process. During the clamping process of the coil, the pressure plate 431 can be reset during deformation, causing the through shaft to expand and push the buffer pressure plate 441 downward. The coil can be pushed downward from multiple positions for correction, which is convenient for subsequent transfer and clamping.

[0041] The docking end block 43 is equipped with a reset air pressure plate 431, which is connected to the buffer tube. It is used to control the deformation of the buffer tube to press the buffer pressure plate 441 against the top of the coil, which can ensure the stability of subsequent clamping.

[0042] like Figure 2 and Figure 5 As shown, the top of the clamping frame 4 is provided with a fixing plate 41, and a hollow plate 46 is installed at one end of the fixing plate 41. A drive shaft 461 is clamped inside the hollow plate 46, and one end of the drive shaft 461 is clamped at the top of the docking end block 43.

[0043] A rectangular reset frame 45 is fitted on the outside of the docking end block 43. The bottom of the reset frame 45 abuts against the reset air pressure plate 431, and the top of the reset frame 45 abuts against the inside of the drive shaft 461. The reset frame 45 can push the reset air pressure plate 431 to deform. The hollow plate 46 has an adjustable-length tension rod inside. The docking frame 2 has a telescopic tube 23 inside. The bottom of the telescopic tube 23 has an extension ring connected to the tension rod. The telescopic tube 23 is used to pull the tension shaft and drive shaft 461 to move. The buffer plate 441 can be adjusted to follow the position of the fixed ring frame 31. When clamping and calibrating the coil, the buffer plate 441 can be positioned directly above the coil. It can be adjusted according to different sizes of coils. After clamping the inside of the coil, the telescopic tube 23 can drive the bottom tension shaft and drive shaft 461 to move. In conjunction with the reset frame 45 driving the reset air pressure plate 431 to squeeze, the buffer tube can expand under air pressure, pressing the buffer plate 441 against the top of the coil.

[0044] like Figure 5 As shown, the bottom of the buffer plate 441 is provided with a buffer pad. The buffer plate 441 is used to fit the top of the coil to ensure the stability of clamping and transporting, and will not detach under external force or accidental circumstances.

[0045] like Figure 1 As shown, a snap-fit ​​bracket 13 is installed on the conveyor slide 12, and the docking bracket 2 is located at the bottom of the snap-fit ​​bracket 13.

[0046] like Figure 2 As shown, a positioning ring 22 is attached to the outside of the transmission positioning shaft 3, and the bottom of the positioning ring 22 is connected to the telescopic tube 23.

[0047] Working principle: First, when clamping and limiting the coil, the transmission positioning shaft 3 can be engaged inside the coil. As the transmission guide rail 11 feeds, the bottom positioning end block 34 can abut against the inside of the storage mechanism. With the cooperation of the reset shaft 32, the positioning end block 34 is pressed against the inside of the coil for auxiliary clamping. The telescopic tube 23 moves, which can drive the bottom buffer plate 441 to abut against the top of the coil for straightening and clamping, ensuring the stability of subsequent transfer. During clamping, the lifting plate 3 can be raised. 5. Insert the bottom of the coil to lift it, and during the outward expansion of the reset shaft 32, the buffer ring 361 can be pressed against the bottom of the coil for quick concentric correction and clamping the inside of the coil. At the same time, during the clamping deformation, the buffer ring 361 can press against the side of the locking plate and be locked on the hinge block to fix the angle of the positioning end block 34. At this time, the U-shaped shaft on the locking frame 37 can retract inward and be locked on the transmission shaft, and the reset shaft 32 is fixed by means of the locking ring 33.

[0048] Then, the buffer plate 441 can be adjusted to follow the position of the fixed ring frame 31. When clamping and calibrating the coil, the buffer plate 441 can be positioned directly above the coil. It can be adjusted according to the coil size. After clamping the inner side of the coil, the telescopic tube 23 can drive the bottom tension shaft and the transmission shaft 461 to move. In conjunction with the reset frame 45, the reset air pressure plate 431 is squeezed. Under the action of air pressure, the buffer tube expands and the buffer plate 441 is pressed against the top of the coil for auxiliary clamping of the coil. It can calibrate the coil during the clamping process and keep it in a horizontal state, which is convenient for subsequent feeding and transportation.

[0049] Finally, after the coil is clamped between the limiting fixtures, there will be no unexpected interference. At the same time, when the locking ring 33 and the telescopic tube 23 are reset, the clamping state of the coil can be quickly released, which improves the overall processing efficiency.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanically coordinated winding and disassembling robot for current transformers, characterized in that: include, A rotating seat (1) is provided with a transmission guide rail (11) on the rear movable card. A conveying slide plate (12) connected to a docking frame (2) is provided on the transmission guide rail (11). A positioning tube (21) is installed inside the docking frame (2). A transmission positioning shaft (3) is movably provided at the bottom of the positioning tube (21). The transmission positioning shaft (3) has multiple staggered reset shafts (32) at its bottom. Each reset shaft (32) has a positioning end block (34) hinged to its bottom for abutting against the inner wall of the coil for auxiliary clamping. A fixed ring frame (31) is movably mounted on the reset shaft (32). Multiple clamping frames (4) are mounted on the fixed ring frame (31). A docking end block (43) with a fixed card block (44) is mounted on one side of the clamping frame (4) for calibrating and clamping the coil in conjunction with the transmission positioning shaft (3).

2. The mechanical cooperative winding and disassembly robot for current transformers according to claim 1, characterized in that: The bottom of the transmission positioning shaft (3) is provided with multiple snap-fit ​​grooves, and a snap-fit ​​tube (321) is installed inside the snap-fit ​​groove. The top of the reset shaft (32) is inserted into the snap-fit ​​tube (321). The top of the reset shaft (32) is provided with a hinge block for bending. The bottom of the transmission positioning shaft (3) is provided with multiple transmission shafts, and a locking ring (33) is snapped at the bottom of the transmission shaft. The locking ring (33) is snapped at the position where the reset shaft (32) intersects.

3. The mechanical cooperative winding and disassembly robot for current transformers according to claim 2, characterized in that: The bottom of the transmission positioning shaft (3) is equipped with a locking frame (37). Multiple U-shaped shafts with inner walls clamped on the side wall of the locking frame (37) are inserted. The locking frame (37) is used to limit the transmission shaft and to fix the position of the locking ring (33) to fix the reset shaft (32) clamped to the inner wall of the coil.

4. The mechanical cooperative winding and disassembly robot for current transformers according to claim 1, characterized in that: The positioning end block (34) is provided with hinge shafts (36) at both ends. A buffer pressure ring (361) is inserted inside the hinge shaft (36) and is used to abut against the inner wall of the coil. The bottom of the positioning end block (34) is equipped with a lifting plate (35), the lifting plate (35) has a trapezoidal cross section, and a locking plate is inserted inside the positioning end block (34). The locking plate abuts against the hinge block inside the positioning end block (34) during the clamping process, which is used to fix the clamping angle of the positioning end block (34).

5. The mechanical cooperative winding and disassembly robot for current transformers according to claim 1, characterized in that: The clamping frame (4) is equipped with a connecting plate (42) at one end, and the docking end block (43) is installed on the connecting plate (42). The docking end block (43) is "L" shaped and hollow. The bottom of the fixing block (44) is equipped with a buffer tube that connects to the buffer pressure plate (441). A telescopic rod located outside the buffer tube is provided between the fixing block (44) and the buffer pressure plate (441). The buffer pressure plate (441) is used to press against the top of the coil to keep the coil in a horizontal state during the clamping process. The docking end block (43) is provided with a reset air pressure plate (431), which is connected to the buffer tube and is used to control the deformation of the buffer tube to press the buffer pressure plate (441) against the top of the coil.

6. The mechanical cooperative winding and disassembly robot for current transformers according to claim 5, characterized in that: The clamping frame (4) is provided with a fixing plate (41) at the top. A hollow plate (46) is installed at one end of the fixing plate (41). A drive shaft (461) is installed inside the hollow plate (46). One end of the drive shaft (461) is installed at the top of the docking end block (43). A rectangular reset frame (45) is fitted on the outside of the docking end block (43). The bottom of the reset frame (45) abuts against the reset air pressure plate (431). The top of the reset frame (45) abuts against the inside top of the drive shaft (461). The reset frame (45) can push the reset air pressure plate (431) to deform. The hollow plate (46) is provided with a tension rod with adjustable length inside. The docking frame (2) is fitted with a telescopic tube (23). The bottom of the telescopic tube (23) is provided with an extension ring connected to the tension rod. The telescopic tube (23) is used to pull the tension shaft and the drive shaft (461) to move.

7. The mechanical cooperative winding and disassembly robot for current transformers according to claim 5, characterized in that: The buffer plate (441) has a buffer pad at the bottom, and the buffer plate (441) is used to fit the top of the coil.

8. The mechanical cooperative winding and disassembly robot for current transformers according to claim 1, characterized in that: A snap-fit ​​bracket (13) is installed on the conveyor slide (12), and the docking bracket (2) is located at the bottom of the snap-fit ​​bracket (13).

9. The mechanical cooperative winding and disassembly robot for current transformers according to claim 1, characterized in that: The transmission positioning shaft (3) is fitted with a positioning ring (22) on its outside, and the bottom of the positioning ring (22) is connected to the telescopic tube (23).

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